Kuka KR 30 HA, Руководство по сборке

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3 Product description (continued)
13 of 122 MA KR 30, 60 HA, KR C4 04.11.02 en
3.3 Arm
The arm assembly (Fig. 3/2) embodies the driven element of axis 3 of the manipulator. The
arm is flange--mounted to the side of the link arm (7) through a gear unit with integrated bear-
ings and is driven by main axis motor unit A3 (6). The swivel axis (3) of the arm has been
so selected that with the rated payload there is no need for an additional counterweight to
balance the masses on the arm.
The effective software swivel range extends for all manipulators from +158
°
to --120
°
, re-
ferred to the electrical zero position of axis 3, which is given when the longitudinal axes of
the arm and link arm run parallel. The swivel range is limited by mechanical limit stops with
a buffer function in addition to the software limit switches.
Attached to the rear of the arm housing (8) are the motor units for wrist axes 4 to 6. Arm vari-
ants are available which are 200 mm (KR 60 L45 HA) or 400 mm (KR 60 L30 HA) longer than
the standard arm. These arm extensions involve a reduction in the rated payloads and the
individual axis speeds.
The arm housing consists -- as do the housings of the link arm and rotating column -- of a
light alloy construction optimized by means of CAD and FEM.
Mounted on the front end of the arm via a standardized interface is the in--line wrist (4), which
is driven by the wrist axis motor units (1) through push--on shafts (5) located inside the arm.
1 Motor units for wrist axes 6 Main axis motor unit A3
2 Arm 7 Link arm
3 Rotational axis A3 8 Arm housing
4 In--line wrist
5 Shaft
1 2 3
5 6 7 8
4
Fig. 3 Arm